public void fctPlay(NLX.Robot.Kuka.Controller.RobotController rob)
{
if (listPos.Count() != 0)
{
// play the list, then empty it
rob.PlayTrajectory(listPos);
listPos.Clear();
}
}
public void changeLocation(NLX.Robot.Kuka.Controller.CartesianPosition currentMouvement)
{
lastMouvement.A = currentMouvement.A;
lastMouvement.B = currentMouvement.B;
lastMouvement.C = currentMouvement.C;
lastMouvement.X = currentMouvement.X;
lastMouvement.Y = currentMouvement.Y;
lastMouvement.Z = currentMouvement.Z;
NLX.Robot.Kuka.Controller.CartesianPosition posRelRobot = new NLX.Robot.Kuka.Controller.CartesianPosition();
posRelRobot.A = lastMouvement.A * Program.robot.getRotSpeed(); // B
posRelRobot.B = lastMouvement.C * Program.robot.getRotSpeed(); // C
posRelRobot.C = lastMouvement.B * Program.robot.getRotSpeed(); // A
posRelRobot.X = -lastMouvement.Z * Program.robot.getSpeed();
posRelRobot.Y = -lastMouvement.X * Program.robot.getSpeed();
posRelRobot.Z = lastMouvement.Y * Program.robot.getSpeed();
//Console.WriteLine("[" + posRelRobot.A + ":" + posRelRobot.B + ":" + posRelRobot.C + "] [" + posRelRobot.X + ":" + posRelRobot.Y + ":" + posRelRobot.Z + "]");
Program.robot.translateRelative(posRelRobot);
}
public void setLocation(NLX.Robot.Kuka.Controller.CartesianPosition val)
{
this.location = val;
}
public void setRobotInfo(bool actif, float speed, float rotSpeed, NLX.Robot.Kuka.Controller.CartesianPosition location)
{
this.createIHM.setRobotInfo(actif, speed, rotSpeed, location);
}
public void readAndInterpretFile2(string path, NLX.Robot.Kuka.Controller.RobotController robot)
{
Console.WriteLine("in readAndInterpretFile2");
Console.WriteLine("path: " + path);
int nbLignesPalette = 4;
int nbColonnesPalette = 4;
parseFile(path);
double xdecx = point1.X - point2.X;
double ydecx = point1.Y - point2.Y;
double xdecy = point1.X - point3.X;
double ydecy = point1.Y - point3.Y;
Console.WriteLine("xdecx: " + xdecx);
Console.WriteLine("ydecx: " + ydecx);
Console.WriteLine("xdecy: " + xdecy);
Console.WriteLine("ydecy: " + ydecy);
try
{
//for (int ligne = 0; ligne <= nbLignesPalette; ligne++)
for (int colonne = 0; colonne <= nbColonnesPalette; colonne++)
{
for (int ligne = 0; ligne <= nbLignesPalette; ligne++)
//for (int colonne = 0; colonne <= nbColonnesPalette; colonne++)
{
Console.WriteLine("ligne: " + ligne + ",colonne: " + colonne);
if (File.Exists(path))
{
using (StreamReader sr = new StreamReader(path))
{
double d;
//new List<NLX.Robot.Kuka.Controller.CartesianPosition>();
listPos = new List<NLX.Robot.Kuka.Controller.CartesianPosition>();
while (sr.Peek() >= 0)
{
string str = sr.ReadLine();
if (Double.TryParse(str, out d))
{
//
NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition();
Console.WriteLine("x: " + d);
cpos.X = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("y: " + d);
cpos.Y = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("z: " + d);
cpos.Z = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("a: " + d);
cpos.A = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("b: " + d);
cpos.B = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("c: " + d);
cpos.C = d;
str = sr.ReadLine();
Console.WriteLine(str);
Console.WriteLine("robot: " + robot);
Console.WriteLine("listPos: " + listPos);
listPos.Add(robot.GetCurrentPosition());
// add cpos to the listPos
listPos.Add(cpos);
fctPlay(robot);
}
else
{
// play the list of positions if it's not empty
Console.WriteLine("rob: " + robot);
Console.WriteLine("listpos: " + listPos);
fctPlay(robot);
if (str == "open")
{
// do the open
Console.WriteLine("doing open gripper");
robot.OpenGripper();
}
else if (str == "close")
{
Thread.Sleep(1000);
// do the close
Console.WriteLine("doing close gripper");
robot.CloseGripper();
}
else if (str == "p0")
{
NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition();
str = sr.ReadLine();
Console.WriteLine("str: " + str);
Double.TryParse(str, out d);
//cpos.X = d + ligne*xdecy + colonne*xdecy;
Console.WriteLine("ligne: " + ligne);
Console.WriteLine("colonne: " + colonne);
cpos.X = d + (-1)*ligne*xdecx + (-1)*colonne*xdecy;
str = sr.ReadLine();
Double.TryParse(str, out d);
//cpos.Y = d + ligne*ydecx + colonne*ydecy;
cpos.Y = d + (-1)*ligne*ydecx + (-1)*colonne*ydecy;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.Z = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.A = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.B = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.C = d;
str = sr.ReadLine();
listPos.Add(robot.GetCurrentPosition());
// add cpos to the listPos
listPos.Add(cpos);
fctPlay(robot);
}
else if (str == "p1")
{
NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition();
str = sr.ReadLine();
Double.TryParse(str, out d);
//cpos.X = d + ligne * xdecx + colonne * xdecy;
cpos.X = d + (-1) * ligne * xdecx + (-1) * colonne * xdecy;
str = sr.ReadLine();
Double.TryParse(str, out d);
//cpos.Y = d + ligne * ydecx + colonne * ydecy;
cpos.Y = d + (-1) * ligne * ydecx + (-1) * colonne * ydecy;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.Z = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.A = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.B = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.C = d;
str = sr.ReadLine();
listPos.Add(robot.GetCurrentPosition());
// add cpos to the listPos
listPos.Add(cpos);
fctPlay(robot);
}
else if (str == "p2")
{
NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition();
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.X = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.Y = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.Z = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.A = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.B = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.C = d;
str = sr.ReadLine();
}
else if (str == "p3")
{
NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition();
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.X = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.Y = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.Z = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.A = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.B = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
cpos.C = d;
str = sr.ReadLine();
}
}
}
fctPlay(robot);
}
}
else
{
Console.WriteLine("it doesn't exist");
}
}
}
Console.WriteLine("in readAndInterpretFile");
Console.WriteLine("path: " + path);
listPos = new List<NLX.Robot.Kuka.Controller.CartesianPosition>();
}
catch (Exception e)
{
Console.WriteLine("The process failed: {0}", e.ToString());
}
}
public void readAndInterpretFile(string path, NLX.Robot.Kuka.Controller.RobotController robot)
{
Console.WriteLine("in readAndInterpretFile");
Console.WriteLine("path: " + path);
listPos = new List<NLX.Robot.Kuka.Controller.CartesianPosition>();
try
{
if (File.Exists(path))
{
using (StreamReader sr = new StreamReader(path))
{
double d;
new List<NLX.Robot.Kuka.Controller.CartesianPosition>();
while (sr.Peek() >= 0)
{
string str = sr.ReadLine();
if (Double.TryParse(str, out d))
{
//
NLX.Robot.Kuka.Controller.CartesianPosition cpos = new NLX.Robot.Kuka.Controller.CartesianPosition();
Console.WriteLine("x: " + d);
cpos.X = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("y: " + d);
cpos.Y = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("z: " + d);
cpos.Z = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("a: " + d);
cpos.A = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("b: " + d);
cpos.B = d;
str = sr.ReadLine();
Double.TryParse(str, out d);
Console.WriteLine("c: " + d);
cpos.C = d;
str = sr.ReadLine();
Console.WriteLine(str);
listPos.Add( robot.GetCurrentPosition() );
// add cpos to the listPos
listPos.Add(cpos);
fctPlay(robot);
}
else
{
// play the list of positions if it's not empty
Console.WriteLine("rob: " + robot);
Console.WriteLine("listpos: " + listPos);
fctPlay(robot);
if (str == "open")
{
// do the open
Console.WriteLine("doing open gripper");
robot.OpenGripper();
}
else if (str == "close")
{
Thread.Sleep(1000);
// do the close
Console.WriteLine("doing close gripper");
robot.CloseGripper();
}
}
}
fctPlay(robot);
}
}
else
{
Console.WriteLine("it doesn't exist");
}
}
catch (Exception e)
{
Console.WriteLine("The process failed: {0}", e.ToString());
}
}
public Dictionary<String, Double> transformCartPointToDict(NLX.Robot.Kuka.Controller.CartesianPosition location)
{
Dictionary<String, Double> pDict = new Dictionary<String, Double>();
pDict.Add("X", location.X);
pDict.Add("Y", location.Y);
pDict.Add("Z", location.Z);
pDict.Add("A", location.A);
pDict.Add("B", location.B);
pDict.Add("C", location.C);
return pDict;
}
